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Examples of Convolution
There s no need to fear,
Theres
fear
convolution is here!
Review
Impulse response: h(t)
Input: x(t)
Output: y(t)
y(t)) = h(t)
y(
( ) x(t)
( ) = x(t)
( ) h(t)
()
=
h()x(t )d = x()h(t )d
Given the impulse response of a system, and the input to the system,
we can find the output by using convolution.
Example Systems
System 1:
M
Mass
with
ith sliding
lidi
ffriction,
i ti
input=fa(t), output=v(t)
M=1, b=2;
0.8
0.8
ht=yy (t)
y (t)
0.6
0.4
0.6
0.4
0.2
0.2
-1
1
Time (seconds
-1
b
t
1
1
M
y 1(t) = 1 e (t) =
1 e2t (t)
b
2
1
Time (seconds
1 Mb t
h1(t) = e (t) = e2t (t)
M
I
Impulse
l response off spring-friction
i f i ti system
t
0.8
0.5
h(t))=y (t)
0.6
y (t)
System 2:
Spring and friction in parallel,
input=fa(t), output= v(t)
k=1, b=2
0.4
0.2
0
-0.5
0
0
y 2(t) =
1
e
k
4
6
Time (seconds
k
t
b
(t) = e
(t)
10
-1
0
4
6
Time (seconds
10
1
1 kb t
h2 (t) = (t) e (t)
k
b
1 t
= (t) e 2 (t)
2
Example 1 / System 1
What is step response of h1(t)?
+
h ()x(t )d = x()h (t )d
1
{e
y(t) =
() {(t )} d =
2(t )
(t)
e
(t )} d
{
}
{
Change
g lower limit of integration:
g
()=0,
(
) , <0
+
y(t) =
Step
p response
p
of mass-friction system
y
1
(t )d
0.8
0.6
y (t)
y(t) = e
y(t) =
y(t) =
1
d = e2
2
1
1 e2t (t)
2
0.2
0
-1
t
0
1 2t
1
e 1 =
1 e2t ,
2
2
0.4
t>0
(functional form)
1
Time (seconds
Example 2 / System 1
)
e
(t )} d
{
}
{
y(t) =
x()h1(t )d =
y(t) =
2 ( t )
d =
2t
e d = e
2t
y(t) = e2t
1 e2 = e2t
2 (2 )2
t 1 2t 1
e
4
2 4
1 2t
1
2 t
2
y(t) = e2t
e
+
4
2 4
t 1 1 2t
+ e
2 4 4
1
1
= t 1 e2t ,
2
2
t>0
y ramp(t)
y(t) =
or
t 1 1
0
-1
2
Time (seconds
Example 3 / System 2
y(t) =
x()h (t )d
2
1 2 (t )
y(t) = () (t ) e
(t ) d
2
(t )
1
y(t) = ()(t )d ()e 2
(t )d
2
sifting property
1 +
1 t
1 t
1 t
y(t) = (t) e 2 ()e 2 (t )d = (t) e 2 e 2 d
2
2
0
t
1
1
1
1
t
t
1
2
2
2
= (t) e e2 1
y(t) = (t) 2 e e
2
0.6
t>0
0.8
y (t)
1
1
t
t
y(t) = (t) 1 e 2 = e 2 ,
04
0.4
0.2
y(t) = e
1
t
2
(t)
0
0
4
6
Time (seconds
10
f()g(t )d
We could do it mathematically,
y, but it is useful to visualize the process.
p
2s(t) & 2s(t-3) vs t
f(t) vs t
2
f() vs
2s(t)
2s(t-3)
f()
1.5
f(t)
0.5
0
-2
2
t (seconds
0
-2
time reversal
because of -
g() vs
2
t (seconds
(
d
0
-2
2
(seconds
shift by t
g(-) vs
0
-2
(
d
(seconds
2
g(-)
0
-2
g(t-)
g()
change of variable
from t to
2
(seconds
0
-2
(seconds
So the convolution process is: flip, shift (for each value of t), multiply, integrate (fsmi).
f()g(t )d
f()
g(t-)
product
1.5
0.5
0
-2
-1
2
(seconds
y(t), t<0
fsmi
Since the product is always 0,
g
is zero.
the integral
y(t)
1.5
0.5
y(t) = 0,
t<0
0
-2
-1
2
t (seconds
f()g(t )d
f()
g(t-)
product
15
1.5
0.5
fsmi
-2
y(t) = 0.5 2e
y(t) = e
e d = e
2
(seconds
y(t), 0<t<3
d = e ted
(t )
0<t<3
1.5
y(t)
-1
0.5
0
-2
-1
2
t (seconds
f()g(t )d
f()
g(t) = e t (t)
f(t) = 2((t) (t 3))
1.5
0.5
y(t) = 0.5 2e
y(t) = e
e d
-2
-1
d = e e d
(t )
=e e
value at t=3
3<t
y(t), 3<t
1.5
y(t)
(t) = e t ((e3 e0 ) = e t (e
( 3 1)
y(t) = (e3 t e t ),
(seconds
y(t))
fsmi
g(t-)
product
0.5
homogeneous
response decay
(delayed 3 sec)
0
-2
-1
2
t (seconds
What is y(t)=f(t)*g(t)
2.5
2
f(t)=2((t)- (t-1))
f(t)
1.5
g(t)=((t)- (t-2))/2
1
0.5
0
-0.5
-3
3
-2
2
-1
1
1
2
t (seconds
g(t) vs t
2.5
2
g(t)
1.5
1
0.5
0
-0.5
-3
-2
-1
1
2
t (seconds
This time we will need to split up the integral into five regions
Region 1: (t<0)
f()
g(t-)
f()g(t-)
0
-3
-2
-1
1
2
(seconds)
0
t
0
-2
2
-1
1
1
2
(seconds)
0
-3
-2
-1
1
2
(seconds)
0
-2
-1
1
2
(seconds)
1
(2) 2 d = 3 t
t 2
0
-3
(2) 2 d = 1
0
-3
(2) 2 d = t
0
Region 5: (3<t)
= 0 = 0
Region 4: (2<t<3)
1
-3
3
Region
g
3: ((1<t<2))
Region 2: (0<t<1)
-2
-1
1
2
(seconds)
= 0 = 0
0
f(t)
0
-3
-2
-1
1
2
t (seconds)
g(t) vs t
-2
-1
2
t
y(t)=f(t)*g(t)
-2
-1
1
2
t (seconds)
g(t)
1
0
-3
y(t)
1
0
-3